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<div class="title">crf_segmentation.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Christian Potthast</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : potthast@usc.edu</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_CRF_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_CRF_SEGMENTATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/ml/densecrf.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid_label.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">//#include &lt;pcl/ml/densecrfORI.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html">   58</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_crf_segmentation.html">CrfSegmentation</a></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">//typedef boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; pcl::IndicesPtr;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <a class="code" href="classpcl_1_1_crf_segmentation.html">CrfSegmentation</a> ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      ~<a class="code" href="classpcl_1_1_crf_segmentation.html">CrfSegmentation</a> ();</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      setInputCloud (<span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr input_cloud);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      setAnnotatedCloud (<span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;::Ptr anno_cloud);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      setNormalCloud (<span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr normal_cloud);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      setVoxelGridLeafSize (<span class="keyword">const</span> <span class="keywordtype">float</span> x, <span class="keyword">const</span> <span class="keywordtype">float</span> y, <span class="keyword">const</span> <span class="keywordtype">float</span> z);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      setNumberOfIterations (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n_iterations = 10) {n_iterations_ = n_iterations;};</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      segmentPoints (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;</a> &amp;output);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      createVoxelGrid ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      createDataVectorFromVoxelGrid ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      createUnaryPotentials (std::vector&lt;float&gt; &amp;unary,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                             std::vector&lt;int&gt; &amp;colors,</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n_labels);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      setSmoothnessKernelParameters (<span class="keyword">const</span> <span class="keywordtype">float</span> sx, <span class="keyword">const</span> <span class="keywordtype">float</span> sy, <span class="keyword">const</span> <span class="keywordtype">float</span> sz, <span class="keyword">const</span> <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      setAppearanceKernelParameters (<span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz, </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                                     <span class="keywordtype">float</span> sr, <span class="keywordtype">float</span> sg, <span class="keywordtype">float</span> sb,</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                                     <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      setSurfaceKernelParameters (<span class="keywordtype">float</span> sx, <span class="keywordtype">float</span> sy, <span class="keywordtype">float</span> sz,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                  <span class="keywordtype">float</span> snx, <span class="keywordtype">float</span> sny, <span class="keywordtype">float</span> snz,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                                  <span class="keywordtype">float</span> w);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a427ec641ce2b65fbe5e09825703f3848">  148</a></span>&#160;      <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_crf_segmentation.html#a427ec641ce2b65fbe5e09825703f3848">voxel_grid_</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a843d0bc34665110921759b569a124097">  151</a></span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr <a class="code" href="classpcl_1_1_crf_segmentation.html#a843d0bc34665110921759b569a124097">input_cloud_</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;::Ptr anno_cloud_;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr normal_cloud_;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a5b79d5951c9f3ba5fb71b4b480653ebd">  156</a></span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::Ptr <a class="code" href="classpcl_1_1_crf_segmentation.html#a5b79d5951c9f3ba5fb71b4b480653ebd">filtered_cloud_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointXYZRGBL&gt;::Ptr filtered_anno_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">typename</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::Ptr filtered_normal_;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="comment">//typename pcl::VoxelGrid::IndicesPtr cloud_indices_;      </span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a108419ca74bdc470992f895f940b1b6a">  164</a></span>&#160;      Eigen::Vector4f <a class="code" href="classpcl_1_1_crf_segmentation.html#a108419ca74bdc470992f895f940b1b6a">voxel_grid_leaf_size_</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a43a4ee276b50322a396d86295f3e5deb">  167</a></span>&#160;      Eigen::Vector3i <a class="code" href="classpcl_1_1_crf_segmentation.html#a43a4ee276b50322a396d86295f3e5deb">dim_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a267877f4a3d7a0b61cc70087cb224b49">  172</a></span>&#160;      std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; <a class="code" href="classpcl_1_1_crf_segmentation.html#a267877f4a3d7a0b61cc70087cb224b49">data_</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt; color_;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      std::vector&lt;Eigen::Vector3f, Eigen::aligned_allocator&lt;Eigen::Vector3f&gt; &gt; normal_;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#ab3d2edcff6ea87cabf0226c237a9c0dc">  184</a></span>&#160;      <span class="keywordtype">float</span> smoothness_kernel_param_[4];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_crf_segmentation.html#a92ee8eb32aaeba5ac1abca02932bc24d">  195</a></span>&#160;      <span class="keywordtype">float</span> appearance_kernel_param_[7];</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordtype">float</span> surface_kernel_param_[7];</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> n_iterations_;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="comment">//typename pcl::PointCloud&lt;pcl::Normal&gt;::Ptr normals_;</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="comment">//typename pcl::PointCloud&lt;PointT&gt;::Ptr cloud_for_segmentation_;</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; };</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/impl/crf_segmentation.hpp&gt;</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html">pcl::CrfSegmentation</a></div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:59</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a108419ca74bdc470992f895f940b1b6a"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a108419ca74bdc470992f895f940b1b6a">pcl::CrfSegmentation::voxel_grid_leaf_size_</a></div><div class="ttdeci">Eigen::Vector4f voxel_grid_leaf_size_</div><div class="ttdoc">indices of the filtered cloud.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a267877f4a3d7a0b61cc70087cb224b49"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a267877f4a3d7a0b61cc70087cb224b49">pcl::CrfSegmentation::data_</a></div><div class="ttdeci">std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; data_</div><div class="ttdoc">voxel grid data points packing order [x0y0z0, x1y0z0,x2y0z0,...,x0y1z0,x1y1z0,...,...</div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a427ec641ce2b65fbe5e09825703f3848"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a427ec641ce2b65fbe5e09825703f3848">pcl::CrfSegmentation::voxel_grid_</a></div><div class="ttdeci">pcl::VoxelGrid&lt; PointT &gt; voxel_grid_</div><div class="ttdoc">Voxel grid to discretize the scene</div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a43a4ee276b50322a396d86295f3e5deb"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a43a4ee276b50322a396d86295f3e5deb">pcl::CrfSegmentation::dim_</a></div><div class="ttdeci">Eigen::Vector3i dim_</div><div class="ttdoc">Voxel grid dimensions</div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a5b79d5951c9f3ba5fb71b4b480653ebd"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a5b79d5951c9f3ba5fb71b4b480653ebd">pcl::CrfSegmentation::filtered_cloud_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::Ptr filtered_cloud_</div><div class="ttdoc">voxel grid filtered cloud.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1_crf_segmentation_html_a843d0bc34665110921759b569a124097"><div class="ttname"><a href="classpcl_1_1_crf_segmentation.html#a843d0bc34665110921759b569a124097">pcl::CrfSegmentation::input_cloud_</a></div><div class="ttdeci">pcl::PointCloud&lt; PointT &gt;::Ptr input_cloud_</div><div class="ttdoc">input cloud that will be segmented.</div><div class="ttdef"><b>Definition:</b> crf_segmentation.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGBL &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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